Robotic Endoscope Reinsertion With Body Motion Compensation
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Solution Overview
Problem
Existing endoscope systems face challenges in maintaining clear images during medical procedures due to lens coating from substances like steam, blood, and dirt, and manual reinsertion is cumbersome, especially when the patient's body part moves.
Innovation Solution
An automated probe system with a robotic arm, sensors to track movement, and a controller that calculates and compensates for body part movement to reinsert the probe along a calculated path, including automatic lens cleaning and notification for blurred images.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual removal and reinsertion of the endoscope is performed, then the lens can be cleaned, but the procedure time increases and the process becomes cumbersome
Solution Approach 1:
The system automatically detects when the lens needs cleaning by monitoring image quality parameters, triggers the removal and cleaning process without physician intervention, and autonomously reinserts the endoscope, allowing the system to service itself
Solution Approach 2:
The system continuously monitors image clarity and provides feedback to the control system, which automatically initiates cleaning procedures when degradation is detected, creating a closed-loop control system that maintains optimal image quality
2Reliability
If the endoscope is removed and reinserted manually, then the lens can be cleaned, but the reinsertion accuracy decreases when the body part moves
Solution Approach 1:
The system replaces manual mechanical reinsertion with an automated robotic arm that uses sensor data and calculated paths to precisely reinsert the endoscope, substituting human motor control with automated mechanical systems
Solution Approach 2:
The system calculates the reinsertion path in advance based on the stored insertion path and current body part position, preparing the trajectory before actual reinsertion occurs, allowing for precise positioning even when body parts have moved
3Manufacturing precision
If automated reinsertion is implemented, then reinsertion accuracy improves, but the device complexity increases
Solution Approach 1:
The robotic arm system performs multiple functions including precise positioning, maintaining pressure on the endoscope, and following calculated paths, allowing a single device to handle various aspects of the reinsertion process
Solution Approach 2:
The control system acts as an intermediary between the sensors that track body part movement and the robotic arm that performs reinsertion, calculating the optimal path and translating sensor data into robotic motion commands
Data Source
AI summary
In accordance with one embodiment, an automated probe system includes a probe configured to be reversibly inserted into a live body part, a robotic arm attached to the probe and configured to manipulate the probe, a first sensor configured to track movement of the probe during an insertion and a reinsertion of the probe in the live body part, a second sensor configured to track movement of the live body part, and a controller configured to calculate an insertion path of the probe in the live body part based on the tracked movement of the probe during the insertion, and calculate a reinsertion path of the probe based on the calculated insertion path while compensating for the tracked movement of the live body part, and send control commands to the robotic arm to reinsert the probe in the live body part according to the calculated reinsertion path.